相关论文: Self-Corrective Sensor Fusion for Drone Positionin…
Precise indoor localization of moving targets is a challenging activity which cannot be easily accomplished without combining different sources of information. In this sense, the combination of different data sources with an appropriate…
In the field of sensor fusion and state estimation for object detection and localization, ensuring accurate tracking in dynamic environments poses significant challenges. Traditional methods like the Kalman Filter (KF) often fail when…
Onboard simultaneous localization and mapping (SLAM) methods are commonly used to provide accurate localization information for autonomous robots. However, the coordinate origin of SLAM estimate often resets for each run. On the other hand,…
This paper presents a high-precision positioning system that integrates ultra-wideband (UWB) time difference of arrival (TDoA) measurements, inertial measurement unit (IMU) data, and ultrasonic sensors through factor graph optimization. To…
Drone detection is a challenging object detection task where visibility conditions and quality of the images may be unfavorable, and detections might become difficult due to complex backgrounds, small visible objects, and hard to…
Rapid generation of large-scale orthoimages from Unmanned Aerial Vehicles (UAVs) has been a long-standing focus of research in the field of aerial mapping. A multi-sensor UAV system, integrating the Global Positioning System (GPS), Inertial…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…
Ultra-Wideband (UWB) systems are becoming increasingly popular for indoor localization, where range measurements are obtained by measuring the time-of-flight of radio signals. However, the range measurements typically suffer from a…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…
Recovering a drone on a disturbed water surface remains a significant challenge in maritime robotics. In this paper, we propose a unified framework for robot-assisted drone recovery on a wavy surface that addresses two major tasks: Firstly,…
Drones have become essential tools in a wide range of industries, including agriculture, surveying, and transportation. However, tracking unmanned aerial vehicles (UAVs) in challenging environments, such cluttered or GNSS-denied…
For many applications, drones are required to operate entirely or partially autonomously. To fly completely or partially on their own, drones need access to location services to get navigation commands. While using the Global Positioning…
Ultra-wideband (UWB) indoor localization provides centimeter-level accuracy and low latency, but its measurement reliability degrades severely under Non-Line-of-Sight (NLOS) conditions, leading to meter-scale ranging errors and inconsistent…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
Localization plays a critical role in the field of distributed swarm robotics. Previous work has highlighted the potential of relative localization for position tracking in multi-robot systems. Ultra-wideband (UWB) technology provides a…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Cooperative suspended aerial transportation is highly susceptible to multi-source disturbances such as aerodynamic effects and thrust uncertainties. To achieve precise load manipulation, existing methods often rely on extra sensors to…
Accurate localization is crucial for effectively operating mobile robots in indoor environments. This paper presents a comprehensive approach to mobile robot localization by integrating an ultrasound-based indoor positioning system (IPS)…